REAPING WORK METHOD OF GRAIN CULM

• Main Author: MIYAKE HIROKI
• Format: Patent
• Language: English; Japanese
• Published: 11.05.2023
• Subjects: AGRICULTURE; ANIMAL HUSBANDRY; FISHING; FORESTRY; HARVESTING; HUMAN NECESSITIES; HUNTING; MOWING; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES ORIMPLEMENTS, IN GENERAL; SOIL WORKING IN AGRICULTURE OR FORESTRY; TRAPPING

To provide a reaping work method of grain culm which can suppress trampling of grain culm due to lateral oscillation of a reaping device and efficiently reap unreaped grain culm left on an outer side of a reaping work area.SOLUTION: A controller calculates a deviation distance of a set path in which a combine-harvester automatically travels and a travel path in which the combine-harvester automatically travels. The controller continues the automatic travel of the combine-harvester when the deviation distance is less than a prescribed distance. The controller cancels the automatic travel of the combine-harvester and sets a re-set path and a virtual target line between the set path and the re-set path when the deviation distance is equal to or greater than the prescribed distance. The controller resumes the automatic travel of the combine-harvester after setting a set movement path connecting the set path and the re-set path, forms the set movement path with the first set movement path connecting the set path and the virtual target line and the second set movement path connecting the virtual target line and the re-set path, and reduces the maximum value of an angular variation amount (ωl) of the first set movement path and the second set movement path.SELECTED DRAWING: Figure 7 【課題】刈取装置の横揺れによる穀稈の踏倒しを抑制して、刈取作業域の外側に残った未刈穀稈を効率良く刈取ることができる穀稈の刈取作業方法を提供する。【解決手段】コントローラは、コンバインを自動走行させる設定経路とコンバインが自動走行した走行経路の逸脱距離を算出し、コントローラは、逸脱距離が所定の距離未満の場合には、コンバインを自動走行を継続し、コントローラは、逸脱距離が所定の距離以上の場合には、コンバインを自動走行を中止して、再設定経路と、設定経路と再設定経路の間に仮想目標線を設定し、コントローラは、設定経路と再設定経路を連結する設定移動経路を設定した後に、コンバインを自動走行を再開させ、設定移動経路を、設定経路と仮想目標線を連結する第１設定移動経路と仮想目標線と再設定経路を連結する第２設定移動経路で形成し、第１設定移動経路と第２設定移動経路の角度変化量（ωl）の最大値を小さくした。【選択図】図７